Feedback Variables; Rg2-Ft - OnRobot UR CB3 Series User Manual

OPERATION
Single
Robot program
TCP (Optional)
MoveJ (Set TCP = Active TCP)

6.5. Feedback Variables

6.5.1. RG2-FT

Feedback
Variable
on_return
F3D
F3D_Left
F3D_Right
FT_Base
FT_Left
FT_Right
FT_Tool
Part_Width
Proximity_Left
50
Unit Description
The return value for the OnRobot commands
[N] Length of the 3D force vector
√
F3D =
[N] Length of the 3D force vector for the left finger sensor
F3D_Left =
[N] Length of the 3D force vector for the right finger sensor
F3D_Right =
[3xN, Force and torque values calculated in the Base
3xNm] Coordinate system, in an array
[3xN, list of {Fx,Fy,Fz,Tx,Ty,Tz} for the left finger sensor
3xNm]
[3xN, list of {Fx,Fy,Fz,Tx,Ty,Tz} for the right finger sensor
3xNm]
[3xN, Force and torque values calculated in the Tool
3xNm] Coordinate system, in an array
[mm] The actual value of the detected part width (-1 if it not
applicable) measured by the proximity sensors
[mm] The left proximity (distance) sensor actual value
Dual
Robot program
TCP (Select Gripper 1)
MoveJ (Set TCP = Active TCP)
TCP (Select Gripper 2)
MoveJ (Set TCP = OnRobot_Dual_2)
Fx² + Fy² + Fz²
√
Fx ² + Fy ² + Fz ²
L L L
√
Fx ² + Fy ² + Fz
R R
²
R